Hello!
I looked up and found this post and a couple of others on this topic. I am facing exact same problem. My IT has given me some static IPs for robots and as soon as the number of connected robots goes beyond 10-12, one or two robots start giving PRIO-096 error. While remedies in the manual suggest checking the hub-robot connection, I am facing issues even with the robots which are directly connected to DB switches without any hub in between.
I also tried tweaking the following parameters but nothing helped so far. Any help would be highly appreciated. Thanks in advance